STM32单片机驱动步进电机（一）

驱动电机运动
软件：Keil5
设备：步进电机（17HS4401）、驱动器、单片机（STM32F103）

接线方式：

1. 电机与驱动器：黑A+，绿A-，红B+，蓝B-
2. 驱动器与单片机：MF-PC8，DR-PC9，PU-PB5，COM-3.3V

main.c：(注解部分为此次用不上的程序)

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#include "foot_definition.h"

int main(void)
{
    TIM3_PWM_Init(99,99);
    PC89_Init();
    //uart1_init(115200);//PA9  PA10 
    //uart2_init(115200);//PA2  PA3
    //uart3_init(115200);//PB10 PB11
    delay_init();
    //KEY_Init();     
    LED_Init();
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

    while (1)
    { 
        GPIO_SetBits(GPIOC,GPIO_Pin_9); 
        GPIO_SetBits(GPIOC,GPIO_Pin_8);
        TIM_Cmd(TIM3, ENABLE);                 
        LED1=!LED1;
    }
}

time.c:

#include "timer.h"
#include "led.h"
#include "usart.h"

void TIM3_PWM_Init(u16 arr,u16 psc)
{  
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);  
    
    GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);    
 
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; 
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
 
    TIM_TimeBaseStructure.TIM_Period = arr; 
    TIM_TimeBaseStructure.TIM_Prescaler =psc; 
    TIM_TimeBaseStructure.TIM_ClockDivision = 0; 
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
    
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; 
     TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; 
    TIM_OCInitStructure.TIM_Pulse=arr;  
    TIM_OC2Init(TIM3, &TIM_OCInitStructure); 

    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); 

    TIM_Cmd(TIM3, DISABLE);  
}

time.h:

#ifndef __TIMER_H
#define __TIMER_H
#include "sys.h"

void TIM3_PWM_Init(u16 arr,u16 psc);

foot_definition.c:(名字随意取得，用以存放调用串口的程序)

#include "foot_definition.h"
#include "stm32f10x_it.h"
#include "delay.h"

void PC89_Init(void) //
{
 
 GPIO_InitTypeDef  GPIO_InitStructure;
     
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);     
    
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;                
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    
  GPIO_Init(GPIOC, &GPIO_InitStructure);
    GPIO_ResetBits(GPIOC,GPIO_Pin_8);    //MF
    GPIO_ResetBits(GPIOC,GPIO_Pin_9);      //DIR
}

foot_definition.h:

#ifndef _FOOT_DEFINITION_H
#define _FOOT_DEFINITION_H

void PC89_Init(void);

可以通过修改 TIM3_PWM_Init(99,99) 括号中的两个参数来改变PWM脉冲发送的频率，以达到控制电机转速的目的。